WO2016201303A1 - Système robotique chirurgical à commande coopérative présentant une détection de force redondante - Google Patents

Système robotique chirurgical à commande coopérative présentant une détection de force redondante Download PDF

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Publication number
WO2016201303A1
WO2016201303A1 PCT/US2016/036990 US2016036990W WO2016201303A1 WO 2016201303 A1 WO2016201303 A1 WO 2016201303A1 US 2016036990 W US2016036990 W US 2016036990W WO 2016201303 A1 WO2016201303 A1 WO 2016201303A1
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WIPO (PCT)
Prior art keywords
force
assembly
robot
cooperatively controlled
robotic system
Prior art date
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PCT/US2016/036990
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English (en)
Inventor
Marcin Arkadiusz Balicki
Kevin C. Olds
Russell H. Taylor
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The Johns Hopkins University
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Publication of WO2016201303A1 publication Critical patent/WO2016201303A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00022—Sensing or detecting at the treatment site
    • A61B2017/00026—Conductivity or impedance, e.g. of tissue
    • A61B2017/0003—Conductivity or impedance, e.g. of tissue of parts of the instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A61B90/13—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance

Definitions

  • the field of the currently claimed embodiments of this invention relates to surgical robots, and more particularly to cooperatively-controlled surgical robotic systems with redundant force sensing.
  • 8,911,429 which is hereby incorporated by reference, is a force-controlled surgical device with a primary force/torque sensor located between the last joint of the robot and the surgical instrument adapter.
  • a primary force/torque sensor located between the last joint of the robot and the surgical instrument adapter.
  • Force/torque sensors are susceptible to many modes of failure due to accidents, misuse, or hazards in the environment. They can provide incorrect measurements from temperature changes, electrical noise, or permanent mechanical deformations.
  • the SteadyHand robot uses a force/torque sensor as the main human interaction input for controlling the motion of the robot. In the case where the measurements are incorrect, it is possible that the robot will react in an unexpected and possibly unsafe manner. This is especially undesirable in high-risk scenarios such as surgery where any undesirable motion of the surgical instrument held by the robot could cause severe injury and even death of the patient.
  • a robot operating in vicinity of humans should be able to detect the intentions of the operator, detect collisions between itself and objects in its workspace, and have intuitive robot interaction methods. Accordingly, improved systems and methods are needed for ensuring accurate force sensing in cooperatively-controlled surgical robots.
  • a cooperatively controlled robotic system includes a main robot assembly, and an arm assembly comprising a proximal end and a distal end.
  • the arm assembly is connected to the main robot assembly at the proximal end.
  • the cooperatively controlled robotic system also includes a tool assembly connected to the arm assembly at the distal end, a first force sensor between the distal end of the arm assembly and the tool assembly, and a second force sensor between the proximal end of the arm assembly and the main robot assembly.
  • the cooperatively controlled robotic system includes a control system in communication with the main robot assembly, the arm assembly, the tool assembly, the first force sensor, and the second force sensor.
  • the control system is configured to determine a force applied at the first force sensor based on a force detected by the second force sensor.
  • the control system is further configured to compare the determined force to a force detected by the first force sensor.
  • the control system is further configured to detect a failure of at least one of the first and second force sensors based on the comparison.
  • a method for redundant force sensing in a cooperatively controlled robotic system includes measuring, from a first position, at least one force component applied by a user to a tool assembly, and measuring, from a second position, the at least one force component applied by the user to the tool assembly. The method further includes determining a force applied at the first position based on the measurement from the second position, comparing the determined force to the measurement from the first position, and detecting at least one of a sensor failure, an arm assembly collision, and a user-robot interaction based on the comparison.
  • Figure 1 shows a cooperatively controlled robot according to some embodiments of the invention
  • Figure 2 shows the components of a cooperatively controlled robot with a
  • SFT Secondary Force/Torque sensor
  • Figure 3 illustrates a Gross Positioning System (GPS) and cooperatively controlled robot with a Roll/Tilt Arm (RTA) handle and switch;
  • GPS Gross Positioning System
  • RTA Roll/Tilt Arm
  • Figure 4A shows a pointing instrument (PI) according to some embodiments
  • Figure 4B shows a PI that includes a laser pointer inside the shaft
  • Figure 4C shows a PI that includes multiple lasers with crossing beams
  • Figure 4D shows a PI that includes multiple lasers with diverging beams
  • Figure 5 illustrates positions where forces and torques are resolved according to some embodiments of the invention.
  • the cooperatively controlled robot 100 includes a main robot assembly 102 comprising mechanical links connected by actuated joints, and an arm assembly 104 comprising a proximal end 106 and a distal end 108.
  • the arm assembly 104 is connected to the main robot assembly 102 at the proximal end 106.
  • the cooperatively controlled robot 100 includes a tool assembly 110 connected to the arm assembly 104 at the distal end 108.
  • the cooperatively controlled robot 100 includes a first force sensor 112 between the distal end 108 of the arm assembly 104 and the tool assembly 110, and a second force sensor 114 between the proximal end 106 of the arm assembly 104 and the main robot assembly 102.
  • the cooperatively controlled robot 100 includes a control system 116 in communication with the main robot assembly 102, the arm assembly 104, the tool assembly 110, the first force sensor 112, and the second force sensor 114.
  • the control system 116 is configured to determine a force applied at the first force sensor 112 based on a force detected by the second force sensor 114, to compare the determined force to a force detected by the first force sensor 112, and to detect a failure of at least one of the first force sensor 112 and the second force sensor 114 based on the comparison.
  • the main robot assembly provides translation using a Delta robot stage, but this can be replaced by any combination of actuated robotic architecture that includes translations and or/rotations.
  • the arm assembly contains two rotary joints.
  • the arm assembly can include one or more translation joints, depending on task requirements, or a combination of rotary and translation joints.
  • a SteadyHand Robot is an example of a cooperatively controlled robot (also known as admittance control and force control) where the surgeon and robot share the control of the surgical instrument. Examples are the JHU EyeRobot and the REMS system.
  • admittance control and force control the surgeon and robot share the control of the surgical instrument. Examples are the JHU EyeRobot and the REMS system.
  • the operator and the robot both hold the surgical instrument.
  • the force exerted by the operator guides the robot to comply with the operator's movement using an admittance control method.
  • admittance control method the work presented here is primarily directed to admittance controlled robots, most of the methods apply to impedance controlled robots as well.
  • the motion of the robot and the surgical instrument are in the direction of the force that the surgeon applies to the surgical instrument.
  • the cooperatively controlled robot can provide precise, tremor-free, smooth, and steady manipulation.
  • the result will be a manipulation system with the precision and sensitivity of a machine, but with the manipulative simplicity, immediacy, and the natural hand-eye coordination of hand-held instruments to which the surgeon is already accustomed.
  • the cooperatively controlled robot senses the forces (via a 6DOF force/torque sensor, for example) exerted by the surgeon on the surgical instrument handle and moves the instrument to comply with the exerted forces.
  • a 6DOF force/torque sensor for example
  • the 6 DOF force/torque (FT) sensor is predominantly used in interpreting the surgeon's intentions for controlling the motion of the surgical instrument. The deflection of the actual instrument from forces from physical handling when the robot is not moving is minimal due to a very stiff structural design and non-backdrivable nature of the actuators.
  • Cooperatively controlled robots typically have a single FT sensor.
  • the single FT sensor is prone to damage, and can give incorrect force measurements due to intermittent environmental conditions such as rapid temperature change, electrical noise, or mechanical damage.
  • the following system and methods address this by incorporating additional force sensing capabilities on the robot itself.
  • At least one additional force/torque sensor is provided.
  • SFT Secondary Force/Torque Sensor
  • the redundant sensing capability provides information for additional methods that improve robot usability, reliability, and provide novel robot-user interaction functionality. Besides the standard sensor redundancy to ensure safe motion control for surgical applications, the additional force sensing can be used to provide new interaction methods that save time, reduce peripherals, and are intuitive to the operator.
  • Figure 2 shows the components of a cooperatively controlled robot having an SFT according to some embodiments of the invention. The methods presented here are agnostic to the implementation of the force/torque sensors, which can be stand-alone devices integrated in between the robot components, or can include sensing elements integrated into the body of the robot using its mechanical compliance for sensing.
  • the cooperatively controlled robotic system can include a handle on the RTA, as shown in Figure 3.
  • a user can grasp the handle to aid in positioning the robot.
  • the handle can include an arm contact switch (ACS) that can detect when the user grasps the handle.
  • ACS arm contact switch
  • the cooperatively controlled robotic system includes an actuated gross positioning system (GPS) to provide a convenient way to adjust the overall position of the cooperatively controlled robotic system in the surgical workspace.
  • GPS actuated gross positioning system
  • Figure 3 illustrates an example GPS.
  • the GPS can be driven with an external joystick, or through cooperative control, as described below.
  • the GPS is mounted on the operating bed rail.
  • the GPS is part of a cart that is connected to an operating table during surgery.
  • the GPS can provide motion in a single dimension, such as lateral movement along a rail, or motion in additional dimensions.
  • Figure 3 illustrates a GPS that allows linear horizontal and vertical motion, as well as rotation. Other embodiments may include just one or two of these three types of motion.
  • Cooperatively controlled robotic systems are outfitted with a method to recognize the type of instrument located in the instrument adapter.
  • a special non-surgical positioning instrument (PI) can be designated for adjusting the GPS.
  • Figure 4A shows an example PI with a handle, a straight shaft pointer, and a ball-shaped end.
  • the PI can be made of hard silicone to comply in case of a collision.
  • the PI includes a laser pointer inside the shaft (aligned with the instrument axis) to provide an aiming beam.
  • An example of such a PI is illustrated in Figure 4B.
  • the PI includes multiple lasers mounted on the instrument so that their beams intersect at a predefined distance from the handle or robot body. This is illustrated in Figure 4C.
  • the laser beams create a projection of a predefined pattern (dot(s), circle, square, etc.,) projected on the target surface. This can eliminate the need for a long instrument shaft to indicate the reach of the robot, or ideal alignment.
  • the lasers can be arranged in a cone to show the range of motion of the instrument, as shown in Figure 4D. This may be especially beneficial in the case where the instrument is asymmetric and swivels about the instrument shaft.
  • control system such as the cooperatively controlled robot's control system.
  • the control system can be a dedicated "hard-wired" device, or it can be a programmable device.
  • it can be, but is not limited to, a processor, a personal computer, a work station, or any other suitable electronic device for the particular application.
  • it can be integrated into a unit or it can be attachable, remote, and/or distributed.
  • the SFT can be used to cross-check the force values to determine that a failure has occurred, and stop the motion of robot.
  • Figure 5 illustrates positions where forces and torques can be resolved for failure detection. The initial consistency check is done by resolving the SFT at location Pi (SFTi) and comparing the force/torque values to those reported by PFT also resolved at Pi (PFTi). Before the comparison is made the SFTi measurement is calculated to account for the weight of the Roll/Tilt Arm (RTA) between the two sensor coordinate frames, and the given robot pose.
  • RTA Roll/Tilt Arm
  • the RTA can also be referred to as an "arm assembly.”
  • arm assembly is not limited to the roll-tilt arm described herein, and can be used to refer to any assembly that allows for orientation and/or translation, for example, orientation or translation of a tool assembly to which the orientation assembly may be attached.
  • Second level checks can compare individual force/torque components separately to ensure that they are within some predefined value range for a given robot operating mode. In some surgical situations or robot operating modes (e.g., pre-surgical positioning) the tolerance can be increased to cover unusual handling of the robot.
  • An alternative to comparing the magnitude and direction of the two sensor readings is the detection and comparison of human hand tremor frequencies in the force/torque data.
  • the cooperatively controlled robotic system inherently dampens undesired instrument motion by limiting accelerations and also by filtering out high frequency signals (using a low- pass filter with an 8 Hz cut-off) from the force/torque sensor input. The filtered force/torque signal is then used in admittance control.
  • the cooperatively controlled robot detects sensor failure through frequency analysis by comparing frequency components of the signals from the PFTi and the SFTi resolved at the same position on the robot (in this case gravity compensation may not be necessary) before the low-pass filtering is applied.
  • the frequency profile (e.g., using fast Fourier transform) for both should be very similar and a correlation metric, such as Normalized Cross Correlation (NCC), can be used to compare their similarity. If the similarity metric is below a certain threshold (s) in a given time interval (t), the force/torque sensing subsystem is in a compromised state and should be checked before continuing with normal operation. In some cases natural resonance of the system components may need to be considered and omitted from individual force/torque sensor readings before comparison.
  • NCC Normalized Cross Correlation
  • the common embodiments of the cooperatively controlled robot platform use a foot pedal to adjust the admittance control gain. This has a convenient safety function in that the robot does not move unless the pedal is pressed. The operating room has many pedals and reducing the number of these is desirable.
  • HIDFA enables and disables robot motion without a pedal. It involves analyzing the frequency spectrum of the force/torque input(s) for common hand-tremor frequency spectrum profiles (e.g., in the 2-20 Hz range) and only allowing robot motion when these signals are present for a given period of time (e.g., 1 second). The comparison can be computed with standard similarity metrics, e.g., NCC. The method assumes that the surgeon's interaction with the surgical instrument attached to the robot includes unique force/torque signatures that are only common to human instrument manipulation.
  • the surgeon uses a modified surgical instrument where the unexpected weight causes a near constant bias force and as a result breaks gravity compensation.
  • the cooperative control behaves properly until the surgeon releases the handle of the instrument and attends to something else.
  • the bias force would cause undesirable robot motion due to gravity.
  • This anomaly can be detected by the HIDFA since the frequency profile (mostly DC component) is significantly different than what is expected from common hand tremor. Accordingly, when the surgeon releases the tool, the robot can detect a change in the frequency profile, and can stop the motion of the tool.
  • the same approach can be used to detect instrument collisions with inanimate objects that produce a unique vibration profile that is different from the typical human hand tremor profile.
  • a collision with a hard object would initially generate a high frequency signal upon contact, followed by almost no vibration.
  • the detection of the type of contact can be used to switch between different control strategies, e.g., whether to stop or continue motion.
  • multiple force/torque sensors are used to measure the forces/torques exerted on the robot.
  • this same method is used to ensure that two sensors are working properly by actively comparing their ability to detect human interaction within some time and correlation tolerances.
  • the HIDFA is also used as a secondary safety reference for the following methods that allow the system to detect when the surgeon is holding the RTA, or the instrument handle, or both. [0041] Arm Collision Detection
  • the force/torques resolved at Pi as measured by the SFT and PFT should be equal (assuming gravity compensation for weight of the RTA at given robot pose) within some tolerance to account for sensor precision/noise or minor interactions with the environment.
  • the SFT and PFT force/torque readings at Pi will be different. This difference may indicate an undesirable collision of the arm with the anatomy.
  • the robot should stop and the surgeon should check the RTA for any contacts. If no contacts are apparent then there is a possibility that at least one of the force/torque sensors is not functioning properly. At this point the surgeon or technical assistant should run a calibration routine to ensure proper function of the force sensors.
  • the system presented here measures multiple degree- of-freedom forces/torques at multiple locations on the robot (not necessarily at the joints), to avoid such issues.
  • the joint torque approach to detecting collisions does not work in the case of a cooperatively-controlled robot, where the user holds the end-effector to guide the robot using force control. In this case, a robot using the joint torque approach would incorrectly interpret the user's contact as a collision.
  • the contact point location estimate can be communicated visually on a 3D model of the robot. It can also be incorporated into the motion control algorithm to prevent repeat collisions or to provide a warning to the surgeon when this location is approached again.
  • the surgeon may want to only control the translation of the main robot assembly. According to some embodiments, this is achieved by enabling only the Delta stages, while the rest of the robot's joints (Roll/Tilt, others) remain inactive. This mode is enabled when the PFT sensor readings indicates no handle contact while the SFT readings indicates a contact with the RTA. In such case, it can be assumed that the operator is holding the RTA between the sensors. The SFT readings are then used as input into the cooperative control algorithm and the robot is actively guided to the desired XYZ position. To improve robustness of this control paradigm, the HTDFA can be used to verify the surgeon's interaction with the robot.
  • a practical embodiment includes an ergonomic handle that would encourage the operator to interact with the robot at a predefined location on the RTA (see Figure 3). In this case the SFT is resolved at this secondary handle position for natural cooperative control interaction.
  • the translational and rotational motions can be controlled independently with two hands.
  • the FT input measured by SFT from the RTA handle input location (minus the FT measured by the PFT resolved at the RTA handle) can be used to translate the main robot assembly only, i.e., the Cartesian translation of the instrument.
  • the PFT input resolved at the instrument handle can be used to control the rotation of the instrument. In this way one hand is used to translate the tool while the other is used to rotate it.
  • the division of which hand controls which degrees of freedom of the robot can be selected based on task requirements.
  • the cooperatively controlled robotic system includes an actuated gross positioning system (GPS).
  • GPS actuated gross positioning system
  • the GPS implementation can be an admittance or impedance controlled device and can have a combination of passive and active components.
  • the GPS is mounted on the operating bed rail.
  • the GPS is part of a cart that is connected to an operating table during surgery. The simplest version of the GPS provides a single degree of freedom motion that could be used to translate the system along the surgical bed.
  • the control of the GPS system can be enabled when the operator places one hand on the surgical instrument and the other hand on the RTA, and applies force/torque to both simultaneously.
  • the sensors' force/torque measurements can be resolved at the same point, e.g., Pi, including gravity compensation for the RTA.
  • the admittance gain K is preset to provide stable and intuitive control and the manipulator Jacobian Ji for the GPS is calculated at location 1.
  • This mode is engaged when both SFTi and PFTi (after gravity compensation of SFTi for weight of the arm and the instrument) are above some minimal magnitude, and the SFTi and PFTi are not equal within a predefined tolerance. This implies that there exists a force or torque applied on the RTA, besides the force or torque applied on the instrument handle.
  • the standard cooperative control of the instrument i.e., the cooperatively controlled robot
  • the directions of SFTi and PFTi can be considered. If the angle between the corresponding force/torque vectors is greater than the tolerance g, then the current GPS motion can be stopped and standard force control at the handle of the instrument can be engaged again.
  • the GPS force control is activated when an operator grabs the RTA.
  • This event is detected by the embedded arm contact switch (ACS), which uses a standard method of contact sensing: pressure strip, capacitance, etc.
  • ACS embedded arm contact switch
  • this sensor is located on the RTA near the natural RTA handling area, possibly on the RTA handle itself.
  • the GPS control mode is enabled, while the cooperative robot (100 in Figure 1) control is disabled.
  • the SFT measurements are resolved at PA (gravity compensated for the weight of the robot components attached to the SFT sensor), and the robot GPS can be driven in the desired direction using a standard cooperative control algorithm.
  • PA gravitation compensated for the weight of the robot components attached to the SFT sensor
  • the robot GPS can be driven in the desired direction using a standard cooperative control algorithm.
  • only the SFT is used as the input for force control of the GPS.
  • the GPS cooperative control can be enabled when no surgical instrument is in the instrument adapter and an SFT magnitude is above a preset threshold. This approach does not rely on a touch sensor.
  • the cooperative control of the instrument can function independently (controlled by manipulating the surgical instrument handle) or be completely disabled based on the surgeon's preference.
  • SFTH is the Secondary Force/Torque sensor in the robot coordinate frame resolved at the instrument handle location assuming a virtual rigid body connecting the handle to the SFT). This allows the surgeon to translate and rotate the instrument adapter as if he or she were holding the instrument handle directly.
  • Instrument-activated Gross Positioning Control The robot system is outfitted with a method to recognize the type of instrument located in the instrument adapter. This is implemented in any of the standard methods, for example, RFID tag, electronic communication, computer vision, or direct user input (graphical user interface, voice control, etc.).
  • a special non-surgical positioning instrument (PI) can be designated for adjusting the GPS.
  • PI non-surgical positioning instrument
  • the instrument can contain or indicate a set of control parameters for the robot, such as ideal alignment parameters, workspace limits, compliance control gains, remote-center-of-motion constraint, instrument weight for gravity compensation, etc.
  • the instrument shape can also provide a visual indication to the surgeon of the usable workspace for proper system alignment with the surgical site. Example Pis are shown in Figures 4A-4D and described in detail above.
  • the Secondary Force/Torque sensor readings are converted into a velocity- or position-type joystick input that serves as a generic physical user-system interface. For example, instead of a mouse or a touch screen, the surgeon can press on the RTA to move the cursor on the screen.
  • This mode can be enabled when the readings on the PFT sensor are near zero
  • the RTA may benefit from an ergonomic handle.
  • a more precise resolution of the input force/torque on the RTA is possible.
  • More precise FT sensitivity enables a more natural mapping between the user's intention (force/torque) and the actual system response to the intention (mouse motion on the screen).
  • Patent application JHU# 12957 2014

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  • Engineering & Computer Science (AREA)
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  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
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  • Heart & Thoracic Surgery (AREA)
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Abstract

La présente invention concerne un système robotique à commande coopérative qui comprend un ensemble robot principal et un ensemble bras comprenant une extrémité proximale et une extrémité distale. L'ensemble bras est relié à l'ensemble robot principal au niveau de l'extrémité proximale. Le système comprend également un ensemble outil relié à l'ensemble bras au niveau de l'extrémité distale, un premier capteur de force entre l'extrémité distale de l'ensemble bras et l'ensemble outil et un second capteur de force entre l'extrémité proximale de l'ensemble bras et l'ensemble robot principal. Le système comprend un système de commande qui est conçu pour déterminer une force appliquée au niveau du premier capteur de force en fonction d'une force détectée par le second capteur de force et pour comparer la force déterminée à une force détectée par le premier capteur de force pour détecter une défaillance du premier capteur de force et/ou du second capteur de force.
PCT/US2016/036990 2015-06-12 2016-06-10 Système robotique chirurgical à commande coopérative présentant une détection de force redondante WO2016201303A1 (fr)

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Cited By (4)

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